From 2252c6bba76c15916dcc91aa4da95fa77be65302 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 31 Oct 2021 22:02:36 -0700 Subject: [PATCH] Mazda: move CX-9 out of dashcam mode (#22717) * move cx9 out of dashcam * no alc below 28 * process replay route --- RELEASES.md | 1 + docs/CARS.md | 1 + panda | 2 +- selfdrive/car/mazda/interface.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/test_processes.py | 3 ++- 6 files changed, 7 insertions(+), 4 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 746307f41..a4e456c6d 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -2,6 +2,7 @@ Version 0.8.11 (2021-XX-XX) ======================== * Navigation: Show more detailed instructions when approaching maneuver * Cadillac Escalade ESV 2016 support thanks to Gibby! + * Mazda CX-9 2021 support thanks to Jacar! Version 0.8.10 (2021-11-01) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index b5c0702a7..068a81eec 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -128,6 +128,7 @@ | Kia | Sorento 2018-19 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | Telluride 2020 | SCC + LKAS | Stock | 0mph | 0mph | +| Mazda | CX-9 2021 | All | Stock | 0mph | 28mph | | Nissan | Altima 2019-20 | ProPILOT | Stock | 0mph | 0mph | | Nissan | Leaf 2018-22 | ProPILOT | Stock | 0mph | 0mph | | Nissan | Rogue 2018-20 | ProPILOT | Stock | 0mph | 0mph | diff --git a/panda b/panda index 27998ee3a..cc8e705d7 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 27998ee3ac03a3f7a10b49c181e24eeedc874fd3 +Subproject commit cc8e705d7c72fbba7a8d9f61e1d1895ee060afc5 diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 3776613fb..8364bf000 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -22,7 +22,7 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)] ret.radarOffCan = True - ret.dashcamOnly = True + ret.dashcamOnly = candidate not in [CAR.CX9_2021] ret.steerActuatorDelay = 0.1 ret.steerRateCost = 1.0 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 69098de7c..42d3419cc 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f1f065451899f9b8e1cec379b32b970c1c16f849 \ No newline at end of file +5b624879c952ec610c431564ebcd3d257d679015 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 3faab970d..8fd1b0b42 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -23,9 +23,9 @@ original_segments = [ ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF + ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--2"), # MAZDA.CX9_2021 # Enable when port is tested and dascamOnly is no longer set - #("MAZDA", "32a319f057902bb3|2020-04-27--15-18-58--2"), # MAZDA.CX5 #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS ] @@ -41,6 +41,7 @@ segments = [ ("GM", "fakedata|2021-10-07--16-05-26--0"), ("NISSAN", "fakedata|2021-10-07--16-09-53--0"), ("VOLKSWAGEN", "fakedata|2021-10-07--16-11-11--0"), + ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--2"), ] # dashcamOnly makes don't need to be tested until a full port is done